Operability Evaluation of Shared Controlled Multiple Cooperative Robots

• HWANG Gilgueng

  Institute of Industrial Science, University of Tokyo

• HASHIMOTO Hideki

  Institute of Industrial Science, University of Tokyo

抄録

A novel single-master multi-slave (SMMS) human-robot shared control framework which is implemented in the RT-Middleware was proposed. Our research set the target goal of improving the user's operability with the proposed system. This paper proposes a novel force feedback strategy for shared controlled SMMS telemicromanipulation system which was developed in our laboratory. This work is motivated by the high necessity of proper force feedback strategy to provide better operability to the human operator which results in the improvement of overall task performance. Lastly, several pick-and-place experimental results show a dramatic improvement of internal force regulation capability and an operability by the proposed feedback strategy based on the shared control framework in SMMS tele-micromanipulation system.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 42 (4), 304-309, 2006

  公益社団法人 計測自動制御学会

キーワード

• SMMS system
• tele-micromanipulation
• shared control
• virtual mapping
• impedance control

詳細情報

• CRID: 1390001204504466816
• NII論文ID: 130003971552
• NII論文ID: 10017426463
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr1965.42.304
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 7939437
• Web Site: http://id.ndl.go.jp/bib/7939437
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7939437
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/42/4/42_4_304/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可